阅读说明：本技术 测距组件、天线选择方法、测距方法、装置和系统 (Ranging assembly, antenna selection method, ranging method, device and system ) 是由 郭富祥 于 2021-07-23 设计创作，主要内容包括：本申请涉及一种测距组件、天线选择方法、测距方法、装置和系统,该测距组件包括多条第一UWB天线,所述第一UWB天线用于收发UWB信号；UWB收发器,所述UWB收发器分别与多条所述第一UWB天线连接,用于通过多条所述第一UWB天线分别接收测距设备发射的第一测距信号,并通过多条所述第一UWB天线中的目标UWB天线向所述测距设备反馈第二测距信号；其中,所述目标UWB天线根据每条所述第一UWB天线接收到所述第一测距信号的目标多径参数确定,所述目标多径参数表征UWB信号在所述测距设备和所述测距组件之间传输的多径效应的强弱。该测距组件可以提高测距的准确度。(The application relates to a distance measurement component, an antenna selection method, a distance measurement method, a device and a system, wherein the distance measurement component comprises a plurality of first UWB antennas, and the first UWB antennas are used for receiving and transmitting UWB signals; the UWB transceiver is respectively connected with the first UWB antennas and is used for respectively receiving first ranging signals transmitted by ranging equipment through the first UWB antennas and feeding back second ranging signals to the ranging equipment through a target UWB antenna in the first UWB antennas; the target UWB antenna is determined according to target multipath parameters of the first ranging signals received by each first UWB antenna, and the target multipath parameters represent the strength of multipath effects transmitted by the UWB signals between the ranging equipment and the ranging component. The ranging assembly can improve the accuracy of ranging.)

1. A ranging assembly, comprising:

a plurality of first UWB antennas for transceiving UWB signals;

the UWB transceiver is respectively connected with the first UWB antennas and is used for respectively receiving first ranging signals transmitted by ranging equipment through the first UWB antennas and feeding back second ranging signals to the ranging equipment through a target UWB antenna in the first UWB antennas;

the target UWB antenna is determined according to target multipath parameters of the first ranging signals received by each first UWB antenna, and the target multipath parameters represent the strength of multipath effects transmitted by the UWB signals between the ranging equipment and the ranging component.

2. A ranging assembly as claimed in claim 1 wherein the UWB transceiver is configured with a plurality of transmission ports for connection with the first UWB antenna, wherein the UWB transceiver comprises:

a receiving circuit, connected to at least N of the plurality of transmission ports, respectively, for supporting a receiving process of the first ranging signal, where N is the number of the first UWB antennas;

and the transmitting circuit is connected with at least one of the plurality of transmission ports and is used for supporting the transmitting processing of the second ranging signal.

3. The ranging assembly of claim 2 wherein the number of transmit ports to which the transmit circuit is connected is less than the number of first UWB antennas, the ranging assembly further comprising:

the switch, the first end of switch with one of them of transmission port is connected, the second end of switch respectively with many first UWB antennas one-to-one connection, the switch is used for selectively switching on the radio frequency route between target UWB antenna and the transmission port.

4. The range finding assembly of claim 2 wherein said receiving circuits are connected to a plurality of said transmission ports, respectively, said transmitting circuits are connected to a plurality of said transmission ports, respectively, said plurality of transmission ports being connected to a plurality of said first UWB antennas in a one-to-one correspondence.

5. A ranging assembly as claimed in any of claims 1 to 4 wherein the target multipath parameters comprise at least one of a target reception time and a target reception strength, wherein a shorter target reception time is indicative of a weaker multipath effect and a stronger target reception strength is indicative of a weaker multipath effect.

6. A ranging assembly as claimed in claim 5 wherein the UWB transceiver is configured to derive the target multi-path parameters from initial reception parameters and compensation parameters;

wherein the initial receiving parameter comprises at least one of an initial receiving time and an initial receiving intensity, and the compensation parameter comprises at least one of a signal compensation time and a signal compensation intensity;

the target receiving time is the difference between the initial receiving time and the signal compensation time;

the target receiving strength is the sum of the initial receiving strength and the signal compensation strength.

7. An antenna selection method for use in a ranging assembly comprising a plurality of first UWB antennas, the method comprising:

receiving first ranging signals transmitted by ranging equipment through a plurality of first UWB antennas respectively;

determining a target multipath parameter of the first ranging signal received by each first UWB antenna, wherein the target multipath parameter represents the strength of multipath effect transmitted by the UWB signal between the ranging equipment and the ranging component;

and selecting a target UWB antenna from the plurality of first UWB antennas according to the target multipath parameter corresponding to each first UWB antenna, wherein the target UWB antenna is used for feeding back a second ranging signal to the ranging equipment.

8. The antenna selection method according to claim 7, wherein the target multipath parameter includes at least one of a target reception time and a target reception strength, wherein the shorter the target reception time is, the weaker the multipath effect is represented, and the stronger the target reception strength is, the weaker the multipath effect is represented, and the selecting the target UWB antenna from the plurality of first UWB antennas according to the target multipath parameter corresponding to each of the first UWB antennas includes:

taking the first UWB antenna corresponding to the shortest target receiving time as the target UWB antenna, and/or;

and taking the first UWB antenna corresponding to the strongest target receiving strength as the target UWB antenna.

9. The antenna selection method of claim 7 or 8, wherein the determining target multipath parameters for the first ranging signal received by each of the first UWB antennas comprises:

determining initial receiving parameters of each first UWB antenna for receiving the first ranging signal;

acquiring a pre-configured compensation parameter corresponding to the ranging component, wherein the compensation parameter is associated with the target multipath parameter;

and determining target multipath parameters of the first ranging signals received by each first UWB antenna according to the initial receiving parameters and the compensation parameters.

10. The antenna selection method of claim 9, wherein the initial receiving parameters comprise at least one of initial receiving time and initial receiving strength, wherein the compensation parameters comprise at least one of signal compensation time and signal compensation strength, and wherein the determining the target multipath parameters for each of the first UWB antennas for receiving the first ranging signal according to the initial receiving parameters and the compensation parameters comprises:

taking the difference between the initial receiving time and the signal compensation time as a target receiving time, and/or;

and taking the sum of the initial receiving strength and the signal compensation strength as the target receiving strength.

11. The antenna selection method of claim 10, wherein the signal compensation time comprises at least one of a signal transmission time and a signal codec time corresponding to a signal transmission path between the first UWB antenna and a UWB transceiver.

12. A ranging method applied to a ranging apparatus including at least one second UWB antenna, the method comprising:

transmitting a first ranging signal to a ranging component through at least one second UWB antenna so as to indicate the ranging component to receive the first ranging signal through a plurality of first UWB antennas respectively, determining target multipath parameters of the first ranging signal received by each first UWB antenna, selecting a target UWB antenna from the plurality of first UWB antennas according to the target multipath parameters corresponding to each first UWB antenna, and feeding back a second ranging signal to the second UWB antenna through the target UWB antenna, wherein the target multipath parameters represent the strength of multipath effects transmitted by the UWB signals between the ranging device and the ranging component;

receiving the second ranging signal, wherein the first ranging signal and the second ranging signal are used to determine a target distance between the ranging device and the ranging component.

13. The ranging method of claim 12, wherein the ranging apparatus comprises a plurality of second UWB antennas, the plurality of second UWB antennas respectively transmitting the first ranging signal and receiving the second ranging signal, and the step of determining the target distance between the ranging apparatus and the ranging assembly based on the first ranging signal and the second ranging signal comprises:

obtaining a plurality of UWB ranging values according to the first ranging signals and the second ranging signals respectively corresponding to the plurality of second UWB antennas;

determining a target distance between the ranging device and the ranging component from a plurality of UWB ranging values.

14. A ranging apparatus for use in a ranging apparatus comprising at least one second UWB antenna, the apparatus comprising:

a transmitting module, configured to transmit a first ranging signal to a ranging component through at least one second UWB antenna, so as to instruct the ranging component to receive the first ranging signal through a plurality of first UWB antennas, respectively, determine a target multipath parameter of the first ranging signal received by each first UWB antenna, select a target UWB antenna from the plurality of first UWB antennas according to the target multipath parameter corresponding to each first UWB antenna, and feed back a second ranging signal to the second UWB antenna through the target UWB antenna, where the target multipath parameter represents strength of a multipath effect transmitted by a UWB signal between the ranging device and the ranging component;

a receiving module to receive the second ranging signal, wherein the first ranging signal and the second ranging signal are used to determine a target distance between the ranging device and the ranging component.

15. An electronic device, comprising a memory and a processor, the memory having stored thereon a computer program that, when executed by the processor, causes the processor to perform the steps of the method according to any of claims 7 to 13.

16. A ranging system, comprising:

a ranging component, including a plurality of first UWB antennas and a UWB transceiver, where the first UWB antennas are used to receive UWB signals and transmit UWB signals, and the UWB transceiver is respectively connected to the plurality of first UWB antennas, and is used to receive first ranging signals through the plurality of first UWB antennas, and feed back a second ranging signal through a target UWB antenna in the plurality of first UWB antennas, where the target UWB antenna is determined according to a target multipath parameter of the first ranging signal received by each first UWB antenna, and the target multipath parameter represents the strength of a multipath effect transmitted by the UWB signal between the ranging device and the ranging component;

ranging apparatus, including at least one second UWB antenna, the second UWB antenna be used for to the ranging subassembly transmission first range finding signal, and receive the ranging subassembly feeds back the second range finding signal, wherein, first range finding signal with the second range finding signal is used for confirming ranging apparatus with the target distance between the ranging subassembly.

17. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 7 to 13.

Technical Field

The present application relates to the field of wireless communications technologies, and in particular, to a ranging module, an antenna selection method, a ranging device, and a ranging system.

Background

The Ultra Wide Band (UWB) technology is a wireless carrier communication technology, has the advantages of low system complexity, low power spectral density of transmitted signals, insensitivity to channel fading, low interception capability, high positioning accuracy and the like, and is particularly suitable for high-speed wireless access in dense multipath places such as indoor places and the like.

At present, the distance measurement is mainly performed by a TOF (two way-time of flight) distance measurement method. The TOF ranging method belongs to a two-way ranging technology and mainly utilizes the flight time of signals between two asynchronous transceivers to measure the distance between nodes.

However, the problem of low ranging accuracy exists in the current ranging by the TOF method.

Disclosure of Invention

The embodiment of the application provides a distance measurement assembly, an antenna selection method, a distance measurement device and a distance measurement system, and the accuracy of distance measurement can be improved.

A ranging assembly comprising:

a plurality of first UWB antennas for transceiving UWB signals;

the UWB transceiver is respectively connected with the first UWB antennas and is used for respectively receiving first ranging signals transmitted by ranging equipment through the first UWB antennas and feeding back second ranging signals to the ranging equipment through a target UWB antenna in the first UWB antennas;

the target UWB antenna is determined according to target multipath parameters of the first ranging signals received by each first UWB antenna, and the target multipath parameters represent the strength of multipath effects transmitted by the UWB signals between the ranging equipment and the ranging component.

An antenna selection method for use in a ranging assembly comprising a plurality of first UWB antennas, the method comprising:

receiving first ranging signals transmitted by ranging equipment through a plurality of first UWB antennas respectively;

determining a target multipath parameter of the first ranging signal received by each first UWB antenna, wherein the target multipath parameter represents the strength of multipath effect transmitted by the UWB signal between the ranging equipment and the ranging component;

and selecting a target UWB antenna from the plurality of first UWB antennas according to the target multipath parameter corresponding to each first UWB antenna, wherein the target UWB antenna is used for feeding back a second ranging signal to the ranging equipment.

A ranging method applied to a ranging apparatus including at least one second UWB antenna, the method comprising:

transmitting a first ranging signal to a ranging component through at least one second UWB antenna so as to indicate the ranging component to receive the first ranging signal through a plurality of first UWB antennas respectively, determining target multipath parameters of the first ranging signal received by each first UWB antenna, selecting a target UWB antenna from the plurality of first UWB antennas according to the target multipath parameters corresponding to each first UWB antenna, and feeding back a second ranging signal to the second UWB antenna through the target UWB antenna, wherein the target multipath parameters represent the strength of multipath effects transmitted by the UWB signals between the ranging device and the ranging component;

receiving the second ranging signal, wherein the first ranging signal and the second ranging signal are used to determine a target distance between the ranging device and the ranging component.

A ranging apparatus for use in a ranging apparatus comprising at least one second UWB antenna, the apparatus comprising:

a transmitting module, configured to transmit a first ranging signal to a ranging component through at least one second UWB antenna, so as to instruct the ranging component to receive the first ranging signal through a plurality of first UWB antennas, respectively, determine a target multipath parameter of the first ranging signal received by each first UWB antenna, select a target UWB antenna from the plurality of first UWB antennas according to the target multipath parameter corresponding to each first UWB antenna, and feed back a second ranging signal to the second UWB antenna through the target UWB antenna, where the target multipath parameter represents strength of a multipath effect transmitted by a UWB signal between the ranging device and the ranging component;

a receiving module to receive the second ranging signal, wherein the first ranging signal and the second ranging signal are used to determine a target distance between the ranging device and the ranging component.

An electronic device comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to carry out the steps of the method as described above.

A ranging system, comprising:

a ranging component, including a plurality of first UWB antennas and a UWB transceiver, where the first UWB antennas are used to receive UWB signals and transmit UWB signals, and the UWB transceiver is respectively connected to the plurality of first UWB antennas, and is used to receive first ranging signals through the plurality of first UWB antennas, and feed back a second ranging signal through a target UWB antenna in the plurality of first UWB antennas, where the target UWB antenna is determined according to a target multipath parameter of the first ranging signal received by each first UWB antenna, and the target multipath parameter represents the strength of a multipath effect transmitted by the UWB signal between the ranging device and the ranging component;

ranging apparatus, including at least one second UWB antenna, the second UWB antenna be used for to the ranging subassembly transmission first range finding signal, and receive the ranging subassembly feeds back the second range finding signal, wherein, first range finding signal with the second range finding signal is used for confirming ranging apparatus with the target distance between the ranging subassembly.

A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as described above.

The ranging component comprises a plurality of first UWB antennas and a UWB transceiver, wherein the first UWB antennas are used for receiving and transmitting UWB signals, the UWB transceiver is respectively connected with the first UWB antennas and is used for receiving first ranging signals transmitted by ranging equipment through the first UWB antennas and feeding back second ranging signals to the ranging equipment through a target UWB antenna in the first UWB antennas; the target UWB antenna is determined according to the target multipath parameters of the first ranging signals received by each first UWB antenna, the target multipath parameters represent the strength of multipath effects transmitted by the UWB signals between the ranging equipment and the ranging component, and the target UWB antenna can be determined according to the target multipath parameters of the first ranging signals received by the first UWB antennas respectively during ranging, so that the second ranging signals are fed back to the ranging equipment through the target UWB antennas, namely the target UWB antennas with weak multipath effects are selected according to the target multipath parameters to feed back the second ranging signals, the problem that the ranging accuracy is not high due to the fact that the multipath effects occur in the ranging signals in the transmission process is solved, and the ranging accuracy is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a diagram illustrating an exemplary ranging application;

FIG. 2 is a schematic diagram of a ranging assembly according to an embodiment;

FIG. 3 is a diagram illustrating a connection between multiple transport ports according to an embodiment;

FIG. 4 is a schematic diagram illustrating an alternative connection of multiple transport ports, according to one embodiment;

FIG. 5 is a schematic diagram of another exemplary ranging assembly;

FIG. 6 is a schematic diagram of another exemplary ranging assembly;

FIG. 7 is a flow diagram illustrating an antenna selection method in one embodiment;

FIG. 8 is a flowchart detailing step 720 of FIG. 7 according to an exemplary embodiment;

FIG. 9 is a flow diagram illustrating a ranging method according to one embodiment;

fig. 10 is a schematic structural diagram of a distance measuring device according to an embodiment;

fig. 11 is a schematic diagram of an internal structure of an electronic device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, a first UWB antenna may be referred to as a second UWB antenna, and similarly, a second UWB antenna may be referred to as a first UWB antenna, without departing from the scope of the present application. The first UWB antenna and the second UWB antenna are both UWB antennas, but they are not the same UWB antenna. "plurality" means more than two.

Referring to fig. 1, fig. 1 is a schematic diagram of an application environment of ranging according to an embodiment. As shown in fig. 1, the application environment includes a ranging apparatus 100 and a ranging assembly 200.

In one embodiment, ranging apparatus 100 transmits a first ranging signal to ranging assembly 200, ranging assembly 200 feeds back a second ranging signal to ranging apparatus 100 according to the first ranging signal, and ranging apparatus 100 calculates a distance between ranging assembly 200 and ranging apparatus 100 according to a first ranging time and a second ranging time.

In one embodiment, optionally, the second ranging signal carries a first time when the ranging component 200 receives the first ranging signal and a second time when the second ranging signal is fed back. The ranging apparatus 100 may calculate a time of flight of the UWB signal between the ranging apparatus 100 and the ranging assembly 200 according to a third time when the first ranging signal is transmitted, a fourth time when the second ranging signal is received, the first time, and the second time, and may obtain a distance between the ranging apparatus 100 and the ranging assembly 200 by a product of the time of flight and a speed of light.

However, since multipath occurs during the transmission of the UWB signal between the ranging apparatus 100 and the ranging assembly 200, the ranging assembly 200 and the ranging apparatus 100 may receive the UWB signal at an inaccurate time, which may result in inaccurate ranging. The multipath effect (multipath effect) refers to that after electromagnetic waves propagate through different paths, the time for each component field to reach a receiving end is different, and the component fields are mutually superposed according to respective phases to cause interference, so that the original signal is distorted or an error is generated. For example, the electromagnetic wave propagates along two different paths, and the lengths of the two paths are different by exactly half a wavelength, so that the two paths of signals exactly cancel each other when reaching the end point (the peak and the trough coincide).

The distance measuring device 100 includes, but is not limited to, a mobile phone, a tablet computer, a PDA (Personal Digital Assistant), a POS (Point of Sales), a vehicle-mounted computer, a wearable device, and other terminal devices supporting UWB distance measurement. The distance measurement component 200 includes, but is not limited to, a mobile phone, a tablet computer, a PDA (Personal Digital Assistant), a Point of Sales (POS), a vehicle-mounted computer, a wearable device, a UWB tag, and other terminal devices supporting UWB distance measurement.

The following examples illustrate how to improve the accuracy of ranging between a ranging assembly and a ranging device.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a distance measuring assembly according to an embodiment. In one embodiment, as shown in fig. 2, there is provided a ranging assembly comprising a plurality of first UWB antennas 210 and a UWB transceiver 220, wherein:

the first UWB antenna 210 is configured to receive and transmit UWB signals, and the UWB transceiver 220 is connected to the plurality of first UWB antennas 210, and is configured to receive first ranging signals transmitted from a ranging apparatus through the plurality of first UWB antennas 210, and feed back second ranging signals to the ranging apparatus through a plurality of target UWB antennas in the first UWB antenna 210.

Wherein the target UWB antenna means at least one of the first UWB antennas 210. The target UWB antenna is determined according to the target multipath parameter of the first ranging signal received by each of the first UWB antennas 210. The target multipath parameter refers to a signal parameter when the first UWB signal is received by the first UWB antenna 210, and is generally a signal parameter when the first UWB signal is received by the UWB transceiver 220. The target multipath parameter characterizes the strength of multipath effects transmitted by the UWB signal between the ranging apparatus and the ranging component.

Specifically, when ranging is performed, the ranging apparatus transmits a first ranging signal, the UWB transceiver 220 receives the first ranging signal through the plurality of first UWB antennas 210, and then the strength of the multipath effect of the first UWB antenna 210 every day can be determined according to the target multipath parameter of the first ranging signal received by each first UWB antenna 210, so as to determine the target UWB antenna in the first UWB antennas 210, and then the UWB transceiver 220 can feed back a second ranging signal to the ranging apparatus through the target UWB antenna. When the ranging device receives the first ranging signal and the second ranging signal, the distance between the ranging device and the ranging assembly can be obtained according to the first ranging signal and the second ranging signal.

The step of determining the target UWB antenna in the first UWB antenna 210 according to the target multipath parameter may be performed in the UWB transceiver 220, or may be performed in another device with data processing capability, such as a baseband processor, and is not limited herein.

In this embodiment, when performing ranging, the target UWB antenna may be determined according to target multipath parameters of the first ranging signals received by the plurality of first UWB antennas 210, so as to feed back the second ranging signal to the ranging apparatus through the target UWB antenna, that is, the target UWB antenna with weak multipath effect is selected according to the target multipath parameters to feed back the second ranging signal, thereby avoiding the problem of low ranging accuracy caused by multipath effect of the ranging signal during transmission, and achieving improvement of accuracy of bidirectional ranging.

As shown in fig. 3, in one embodiment, UWB transceiver 220 is configured with a plurality of transmission ports (e.g., RX port, TRX port, TX port) for connecting with said first UWB antenna 210, UWB transceiver 220 comprising a receiving circuit 221 and a transmitting circuit 222, wherein:

the receiving circuit 221 is connected to at least N of the plurality of transmission ports, respectively, and is configured to support receiving processing of the first ranging signal; the transmitting circuit 222 is connected to at least one of the plurality of transmission ports, and is configured to support a transmitting process of the second ranging signal.

Where N is the number of the first UWB antennas 210. The receiving circuit 221 is connected to N of the plurality of transmission ports such that the N transmission ports support the plurality of first UWB antennas 210 to receive the first ranging signal. The transmitting circuit 222 is connected to at least one of the plurality of transmission ports, may be connected to at least one of the N transmission ports to which the transmitting circuit 222 is connected to the receiving circuit 221, or may be connected to at least one of the plurality of transmission ports, other than the N transmission ports to which the receiving circuit 221 is connected, of the transmitting circuit 222, and is not limited herein.

It is understood that if the transmitting circuit 222 is connected to the receiving circuit 221 through N transmission ports, at least one transmission port respectively connected to the transmitting circuit 222 and the receiving circuit 221 can simultaneously support the reception of the first ranging signal and the transmission of the second ranging signal.

For example, if the 1 st to nth transmission ports of the plurality of transmission ports are connected to the receiving circuit 221, the transmitting circuit 222 may be connected to one of the 1 st to nth transmission ports, such that one of the N transmission ports supports the receiving of the first ranging signal and the transmitting of the second ranging signal at the same time; in addition, the transmitting circuit 222 may also be connected to the (N + 1) th transmitting port, and the connection relationship between the transmitting port and the receiving circuit 221 and the connection relationship between the transmitting port and the transmitting circuit 222 are not limited herein.

With continued reference to fig. 3, in one embodiment, the plurality of first UWB antennas 210 are connected in a one-to-one correspondence with a plurality of transmission ports, which are respectively connected to the receiving circuit 221. Wherein at least one of the plurality of transmission ports connected to the receiving circuit 221 is further connected to the transmitting circuit 222.

Illustratively, the number of first UWB antennas 210 is two. The two first UWB antennas 210 are a first UWB antenna a1 and a second UWB antenna a2, respectively, one of the plurality of transmission ports is connected to the receiving circuit 221 and the transmitting circuit 222, respectively, as a TRX port, and the other of the plurality of transmission ports is connected to the receiving circuit 221, as an RX port.

Referring to fig. 4, fig. 4 is a schematic diagram of another connection of multiple transmission ports according to an embodiment. As shown in fig. 4, the number of transmission ports is greater than the number of first UWB antennas 210. The plurality of first UWB antennas 210 are connected to at least N of the plurality of transmission ports in a one-to-one correspondence, and the transmission ports other than the at least N transmission ports connected to the first UWB antennas 210 are connected to the transmission circuit 222.

It should be noted that the number of transmission ports connected to the transmitting circuit 222 may be less than or equal to the number of the first UWB antennas 210, and is not limited herein.

Referring to fig. 5, fig. 5 is a schematic structural diagram of another distance measuring assembly according to an embodiment. In this embodiment, the number of transmitting ports to which the transmitting circuit 222 is connected is less than the number of the first UWB antennas 210, and the ranging component further comprises a switch 230. Wherein:

a first end of the switch 230 is connected to one of the transmitting ports, a second end of the switch 230 is respectively connected to the plurality of first UWB antennas 210 in a one-to-one correspondence manner, and the switch 230 is configured to selectively turn on a radio frequency path between the target UWB antenna and the transmitting port.

Wherein a transmit port refers to a transmission port connected to the transmit circuit 222. Specifically, since the number of the transmitting ports is less than the number of the first UWB antennas 210, if the transmitting ports are connected to the first UWB antennas 210 in a one-to-one correspondence, the signal transmitting function of the first UWB antennas 210 to which the transmitting ports are not connected cannot be supported, and therefore, the switch 230 needs to be provided between the transmitting ports and the first UWB antennas 210, and a radio frequency path between the transmitting ports and the target UWB antennas can be conducted regardless of which first UWB antenna 210 is used as the target UWB antenna, so that the second ranging signal is fed back through the target UWB antenna.

Specifically, when the target UWB antenna is determined, the UWB transceiver 220 controls the switch 230 to turn on the radio frequency path between the target UWB antenna and the transmitting port, and then the UWB transceiver 220 may feed back the second ranging signal to the ranging device through the target UWB antenna.

In the present embodiment, the number of transmitting ports is less than the number of first UWB antennas 210, and the switch 230 selectively switches on the radio frequency path between the target UWB antenna and the transmitting ports, so that it is ensured that any one of the plurality of first UWB antennas 210 feeds back the second ranging signal as the target UWB antenna even if the number of transmitting ports is less than the number of first UWB antennas 210.

It should be noted that the type of the switch 230 is related to the number of the first UWB antennas 210. Illustratively, the number of the first UWB antennas 210 is two, and the switch 230 is a double pole double throw switch.

Referring to fig. 6, fig. 6 is a schematic structural diagram of another distance measuring assembly according to an embodiment. In this embodiment, the receiving circuit 221 is connected to a plurality of the transmission ports, respectively, the transmitting circuit 222 is connected to a plurality of the transmission ports, respectively, and the plurality of the transmission ports are connected to a plurality of the first UWB antennas 210 in a one-to-one correspondence manner.

Specifically, each transmission port of the present embodiment is connected to the receiving circuit 221 and the transmitting circuit 222, so that each transmission port supports receiving of the first ranging signal and transmitting of the second ranging signal at the same time.

In this embodiment, the receiving circuit 221 is connected to the plurality of transmission ports, the transmitting circuit 222 is connected to the plurality of transmission ports, and the plurality of transmission ports are connected to the plurality of first UWB antennas 210 in a one-to-one correspondence manner, so that it is ensured that any one of the plurality of first UWB antennas 210 feeds back the second ranging signal as the target UWB antenna without the switch 230, and the size of the ranging assembly is reduced.

In one embodiment, the target multipath parameter includes at least one of a target reception time and a target reception strength. The target reception time refers to a time at which the first UWB antenna 210 receives the first ranging signal, which is determined by the UWB transceiver 220. The target reception strength refers to the signal strength of the first ranging signal received by the first UWB antenna 210 determined by the UWB transceiver 220. Wherein, the shorter the target receiving time is, the weaker the multipath effect is represented, and the stronger the target receiving strength is, the weaker the multipath effect is represented. Optionally, a first UWB antenna 210 corresponding to a non-strongest multipath effect is used as the target UWB antenna.

Illustratively, for example, the target receiving time of the first ranging signal received by the first UWB antenna a1 is T1, the target receiving time of the first ranging signal received by the first UWB antenna a2 is T2, the target receiving time of the first ranging signal received by the third UWB antenna A3 is T3, and if T1 > T2 > T3, the strength of the multipath effect of the first UWB antenna 210 is in a magnitude relation that the first UWB antenna a1 > the first UWB antenna a2 > the first UWB antenna A3, and one of the first UWB antenna a2 and the first UWB antenna A3 is selected as the target UWB antenna.

For another example, the target receiving time of the first ranging signal received by the first UWB antenna a1 is D1, the target receiving time of the first ranging signal received by the first UWB antenna a2 is D2, the target receiving time of the first ranging signal received by the third UWB antenna A3 is D3, and if D1 > D2 > D3, the strength of the multipath effect of the first UWB antenna 210 is related to the first UWB antenna a1 < the first UWB antenna a2 < the first UWB antenna A3, and one of the first UWB antenna a1 and the first UWB antenna a2 is selected as the target UWB antenna.

Optionally, the first UWB antenna 210 corresponding to the shortest target receiving time and/or the target receiving strength is used as the target UWB antenna.

It is understood that by using the first UWB antenna 210 with the shortest target receiving time and/or the corresponding target receiving strength as the target UWB antenna, the multipath effect can be minimized or eliminated, so that the accuracy of ranging can be maximized.

It should be noted that, when the target multipath parameter includes a target reception time and a target reception quality, the target reception time has a higher priority than the target reception strength. Specifically, if the first UWB antenna 210 corresponding to the maximum target reception time is different from the first UWB antenna 210 corresponding to the maximum target reception intensity, the first UWB antenna 210 corresponding to the maximum target reception time is set as the target UWB antenna.

The following embodiments are described in detail with reference to any of the above embodiments, and how to further improve the accuracy of the distance measurement.

In one embodiment, UWB transceiver 220 is configured to derive the target multipath parameters based on the initial reception parameters and the compensation parameters; wherein the initial receiving parameter includes at least one of an initial receiving time and an initial receiving intensity, and the compensation parameter includes at least one of a signal compensation time and a signal compensation intensity. The target receiving time is the difference between the initial receiving time and the signal compensation time; the target receiving strength is the sum of the initial receiving strength and the signal compensation strength.

In this embodiment, the target multipath parameter is obtained according to the initial receiving parameter and the compensation parameter. The initial reception parameters refer to signal parameters of the first ranging signal determined by UWB transceiver 220. Wherein the initial receiving parameter includes at least one of an initial receiving time and an initial receiving intensity, and the compensation parameter includes at least one of a signal compensation time and a signal compensation intensity.

Specifically, the explanation is made with the initial reception parameter including the initial reception time. Where the initial reception time refers to a reception time at which UWB transceiver 220 receives the first ranging signal. However, the time of receiving the first ranging signal by the UWB transceiver 220 does not completely coincide with the time of receiving the first ranging signal by the first UWB antenna 210, a certain time is required for the first ranging signal to be transmitted from the first UWB antenna 210 to the UWB transceiver 220, and a certain time is also required for the UWB transceiver 220 to decode the first ranging signal, so that the initial receiving time is greater than the target receiving time of the first ranging signal by the first UWB antenna 210, and the target receiving time of the first ranging signal actually received by the first UWB antenna 210 can be accurately determined by taking the difference between the initial receiving time and the signal compensation time as the target receiving time. Optionally, the signal compensation time includes at least one of a signal transmission time and a signal codec time corresponding to a signal transmission path between the first UWB antenna 210 and the UWB transceiver 220.

Specifically, the description will be made with the initial reception parameter including the initial reception strength. Where the initial reception strength refers to a reception strength of the UWB transceiver 220 receiving the first ranging signal. However, the reception strength of the first ranging signal received by the UWB transceiver 220 is not completely consistent with the strength of the first ranging signal received by the first UWB antenna 210, and the transmission of the first ranging signal from the first UWB antenna 210 to the UWB transceiver 220 requires a certain loss of signal strength, so that the initial reception quality is less than the target reception quality of the first ranging signal received by the first UWB antenna 210, and the sum of the initial reception quality and the signal compensation strength is defined as the target reception quality.

It should be noted that the compensation parameter may be obtained through experiment and pre-configured in UWB transceiver 220, so as to be queried from UWB transceiver 220 when necessary. Optionally, the signal compensation time includes at least one of a signal transmission time and a signal codec time corresponding to a signal transmission path between the first UWB antenna 210 and the UWB transceiver 220. Specifically, the signal codec time of UWB transceiver 220 is related to the codec capability of UWB transceiver 220, and thus the signal codec time can be considered as a substantially constant parameter regardless of the signal transmission path. Specifically, UWB transceiver 220 stores a mapping relationship between signal transmission paths and compensation parameters, and the compensation parameters may be determined through the signal transmission paths.

Illustratively, the mapping relationship between the signal transmission path and the compensation parameter is shown in table 1:

TABLE 1

The specific value of the signal compensation time and the specific value of the signal compensation intensity can be obtained through experiments, and the specific values are not limited in this embodiment.

Illustratively, taking the ranging component of fig. 5 as an example, the mapping relationship between the signal transmission path and the compensation parameter is described. The mapping relationship between the signal transmission path and the compensation parameter of the ranging module of fig. 5 is shown in table 2:

signal transmission path	Time of signal compensation	Signal compensation intensity
			TRX Port and first UWB antenna A1	Signal compensation time T5	Signal compensation intensity D5'
TRX Port and first UWB antenna A2	Signal compensation time T6'	Signal compensation intensity D6'
			RX Port and first UWB antenna A1	Signal compensation time T7'	Signal compensation intensity D7'
RX Port and first UWB antenna A2	Signal compensation time T8'	Signal compensation intensity D8'

TABLE 2

In this embodiment, when the target multipath parameter is determined, the target multipath parameter is obtained according to the initial receiving parameter and the compensation parameter, that is, when the target multipath parameter is determined, the signal delay of the UWB signal in the transmission process and the loss of the signal quality are considered, so that the determined target multipath parameter is more accurate, the determined target UWB antenna is correspondingly more accurate, and the accuracy of ranging is further improved.

The following embodiment is based on any of the above embodiments, and describes how to select a target UWB antenna from the plurality of first UWB antennas 210 to feed back the second ranging signal.

Referring to fig. 7, fig. 7 is a flowchart illustrating an antenna selection method according to an embodiment. The antenna selection method in this embodiment is described by taking the example of the method performed by the ranging module in fig. 1. As shown in fig. 7, the antenna selection method includes steps 710 to 730.

And 710, respectively receiving first ranging signals transmitted by ranging equipment through a plurality of first UWB antennas.

This step may refer to the description of any of the above embodiments, which is not repeated herein.

And 720, determining target multipath parameters of each first UWB antenna receiving the first ranging signal.

This step may refer to the description of any of the above embodiments, which is not repeated herein.

Step 730. And selecting a target UWB antenna from the plurality of first UWB antennas according to the target multipath parameter corresponding to each first UWB antenna, wherein the target UWB antenna is used for feeding back a second ranging signal to the ranging equipment.

In this step, since the target multipath parameters represent the strength of the multipath effect, the strength relationship of the multipath effect of the plurality of first UWB antennas can be determined according to the target multipath parameters corresponding to each first UWB antenna, so that the first UWB antenna with weak multipath effect is selected as the target UWB antenna.

In this embodiment, when ranging is performed, the target UWB antenna may be determined according to target multipath parameters of the first ranging signals respectively received by the plurality of first UWB antennas, so that the second ranging signal is fed back to the ranging apparatus through the target UWB antenna, that is, the target UWB antenna with weak multipath effect is selected according to the target multipath parameters to feed back the second ranging signal, thereby avoiding the problem of low ranging accuracy caused by multipath effect of the ranging signal in the transmission process, and achieving improvement of ranging accuracy.

In one embodiment, said target multipath parameter comprises at least one of a target reception time and a target reception intensity, and said selecting a target UWB antenna from a plurality of said first UWB antennas according to the target multipath parameter corresponding to each of said first UWB antennas comprises:

taking the first UWB antenna corresponding to the shortest target receiving time as the target UWB antenna, and/or; and taking the first UWB antenna corresponding to the strongest target receiving strength as the target UWB antenna.

In this embodiment, the shorter the target receiving time is, the weaker the multipath effect is represented, and the stronger the target receiving strength is, the weaker the multipath effect is represented. In particular, multipath effects typically cause the transmission time of the UWB signal over the air interface to be long or cause the signal quality of the UWB signal over the air interface to be poor.

In this embodiment, because the plurality of first UWB antennas are all disposed on the same ranging component, the sizes of the target multipath parameters can be directly compared among the first UWB antennas, and the first UWB antenna corresponding to the shortest target receiving time is selected as the target UWB antenna, and/or the first UWB antenna corresponding to the strongest target receiving intensity is selected as the target UWB antenna, which is equivalent to filtering or weakening the influence of multipath effect to the maximum, thereby maximally improving the accuracy of ranging.

It should be noted that the first UWB antenna corresponding to the strongest multipath effect may be used as the target UWB antenna.

Referring to fig. 8, fig. 8 is a flowchart illustrating a refinement of step 720 in fig. 7 according to an embodiment. In one embodiment, as shown in fig. 8, the step 720 of determining the target multipath parameters of the first ranging signal received by each of the first UWB antennas comprises steps 810 to 830.

Step 810, determining initial receiving parameters of each first UWB antenna for receiving the first ranging signal.

The initial receiving parameter refers to a signal parameter of the first ranging signal determined by the UWB transceiver. Specifically, since a certain transmission loss and processing loss are required for the first ranging signal to be transmitted from the first UWB antenna to the UWB transceiver, the initial receiving parameter of the first ranging signal determined by the UWB transceiver is not completely equal to the target receiving parameter of the first ranging signal received by the first UWB antenna.

And step 820, obtaining a pre-configured compensation parameter corresponding to the ranging component.

Wherein the compensation parameter refers to a parameter obtained in consideration of a transmission loss of the UWB signal between the first UWB antenna and the UWB transceiver and a loss of the UWB transceiver processing the signal. A compensation parameter is associated with the target multipath parameter for accurately determining the target multipath parameter to improve the accuracy of selecting the target UWB antenna. Alternatively, the compensation parameters may be pre-configured in the UWB transceiver so as to be queried from the UWB transceiver when needed.

Step 830, determining target multipath parameters of the first ranging signals received by each first UWB antenna according to the initial receiving parameters and the compensation parameters.

In this embodiment, the target multipath parameters are determined according to the initial receiving parameters and the compensation parameters, and the obtained target multipath parameters are more accurate in consideration of the transmission loss of the UWB signal between the first UWB antenna and the UWB transceiver and the loss of the UWB transceiver processing signals, so that the accuracy of the selected target UWB antenna is higher.

In one embodiment, said initial receiving parameters comprise at least one of an initial receiving time and an initial receiving strength, said compensation parameters comprise at least one of a signal compensation time and a signal compensation strength, and said determining target multipath parameters for each of said first UWB antennas to receive said first ranging signal based on said initial receiving parameters and said compensation parameters comprises:

taking the difference between the initial receiving time and the signal compensation time as a target receiving time, and/or; and taking the sum of the initial receiving strength and the signal compensation strength as the target receiving strength.

The steps of this embodiment may refer to the description of any of the above embodiments, and this embodiment is not described in detail.

In one embodiment, the signal compensation time comprises at least one of a signal transmission time and a signal codec time corresponding to a signal transmission path between the first UWB antenna and the UWB transceiver.

The present embodiment may refer to the description of any one of the above embodiments, and the description of the present embodiment is not repeated.

In one embodiment, after the target UWB antenna is determined, the method further comprises:

feeding back a second ranging signal to the ranging device through the target UWB antenna.

In this embodiment, the second ranging signal carries a first time when the ranging component receives the first ranging signal and a second time when the ranging component feeds back the second ranging signal. Wherein the target reception time may be taken as the first time. Wherein the second time may be a sum of the initial transmission time and the signal compensation time.

In this embodiment, since the transmission loss of the UWB signal between the first UWB antenna and the UWB transceiver and the loss of the UWB transceiver processing signal are considered in the first time and the second time, the obtained first time and second time are also more accurate, and the first time and second time are fed back to the ranging apparatus through the second ranging signal, so that the ranging apparatus can more accurately determine the distance between the ranging assembly and the ranging apparatus.

Referring to fig. 9, fig. 9 is a flowchart illustrating a ranging method according to an embodiment. The distance measurement method in this embodiment is described by taking the distance measurement apparatus in fig. 1 as an example. The ranging apparatus of the present embodiment includes at least one second UWB antenna, and as shown in fig. 9, the ranging method includes steps 910 to 920.

Step 910, transmitting a first ranging signal to a ranging component via at least one second UWB antenna.

In this step, the ranging apparatus transmits a first ranging signal to the ranging assembly through the second UWB antenna, and then the ranging assembly receives the first ranging signal through the plurality of first UWB antennas and then selects the target UWB antenna from the plurality of first UWB antennas to feed back the second ranging signal to the ranging apparatus.

Step 920, receiving a second ranging signal.

In this embodiment, the first ranging signal and the second ranging signal are used to determine a target distance between the ranging device and the ranging assembly.

In this embodiment, when ranging is performed, the ranging device sends the first ranging signal to the ranging component, and the ranging component can determine the target UWB antenna according to the target multipath parameters of the first ranging signal received by the plurality of first UWB antennas, so that the second ranging signal is fed back to the ranging device through the target UWB antenna, that is, the target UWB antenna with weak multipath effect is selected according to the target multipath parameters to feed back the second ranging signal, thereby avoiding the problem that the ranging accuracy is not high due to the multipath effect of the ranging signal in the transmission process, and improving the ranging accuracy.

It can be understood that the determination of the target distance between the ranging device and the ranging component according to the first ranging signal and the second ranging signal may be completed in the ranging device, or the ranging device may package the first time, the second time, the third time, and the fourth time to the server after receiving the second ranging signal, and determine the target distance through the server, which is not limited herein.

In one embodiment, the step of determining the target distance between the ranging device and the ranging assembly from the first ranging signal and the second ranging signal comprises:

obtaining a plurality of UWB ranging values according to the first ranging signals and the second ranging signals respectively corresponding to the plurality of second UWB antennas; determining a target distance between the ranging device and the ranging component from a plurality of UWB ranging values.

In this embodiment, each second UWB antenna transmits a first ranging signal and receives a second ranging signal fed back from the ranging assembly, so that UWB ranging values obtained by ranging through each second UWB antenna can be obtained, and then a plurality of second UWB antennas can obtain a plurality of UWB ranging values, thereby determining a target distance between the ranging apparatus and the ranging assembly through the plurality of UWB ranging values.

It can be understood that set up many second UWB antennas on range unit to obtain a plurality of UWB range finding values through many second UWB antennas, and then confirm the target distance between range unit and the range finding subassembly according to a plurality of UWB range finding values, can determine the target distance through UWB range finding value more than two promptly, avoided taking place multipath effect and lead to the not high problem of range finding precision in a range finding process, further improved the accuracy of range finding.

In one embodiment, determining a target distance between the ranging device and the ranging component from a plurality of UWB ranging values comprises:

determining a ranging difference value between every two UWB ranging values; if the absolute values of the ranging difference values are smaller than or equal to the ranging difference value threshold, determining a target distance according to a first preset rule; and if the absolute value of one of the ranging difference values is greater than the ranging difference value threshold, determining the target distance according to a second preset rule, wherein the first preset rule is different from the second preset rule.

It should be noted that the ranging difference threshold may be determined through experiments to distinguish the strengths of the multipath effects occurring between the plurality of second UWB antennas. If the absolute values of the ranging difference values are all smaller than or equal to the ranging difference value threshold, it is indicated that the difference between the strengths of the multipath effects occurring among the plurality of second UWB antennas is not large, and if the absolute value of one of the ranging difference values is larger than the ranging difference value threshold, it is indicated that the difference between the strengths of the multipath effects occurring among the plurality of second UWB antennas is large, and the second UWB antenna having the strong multipath effect needs to be excluded to measure to obtain the UWB ranging value. Wherein, the larger the UWB ranging value is, the stronger the multipath effect occurs.

In one embodiment, determining the target distance according to a first preset rule includes:

and taking the average value of a plurality of UWB ranging values as the target distance.

Illustratively, the plurality of UWB ranging values includes L1, L2, and L3, and the target distance is (L1+ L2+ L3)/3.

It can be understood that, when the absolute values of the ranging difference values are all less than or equal to the ranging difference value threshold, it indicates that the strength difference of the multipath effects occurring between the plurality of second UWB antennas is not large, and by means of averaging, the UWB ranging values measured by the second UWB antennas with strong multipath effects can be smoothed, which is equivalent to weakening the multipath effect of the UWB signals in the transmission process, so that the ranging accuracy is improved.

In one embodiment, step 330 may also be to calculate the target distance by performing a weighted average of the UWB ranging values. Specifically, each UWB ranging value is configured with a weight value, the larger the UWB ranging value is, the smaller the weight value is, and the sum of the weight values corresponding to the plurality of UWB ranging values is 1.

It will be appreciated that by configuring each UWB ranging value with a weight value, the larger the UWB ranging value, the smaller the weight value, further attenuating the multipath effect.

In one embodiment, determining the target distance according to a second preset rule includes:

and taking the minimum value of the plurality of UWB ranging values as the target distance.

Illustratively, the plurality of UWB ranging values includes L1, L2, and L3, with L1 > L2 > L3, and the target distance is L3.

It can be understood that, when the absolute value of one of the ranging difference values is greater than the ranging difference threshold, it indicates that the difference between the strengths of the multipath effects occurring between the plurality of second UWB antennas is greater, and by taking the minimum value of the plurality of UWB ranging values as the target distance, the multipath effect of the UWB signal in the transmission process is attenuated or filtered, so that the ranging accuracy is improved.

In this embodiment, the target distance is obtained by determining the ranging difference between every two UWB ranging values, averaging when the absolute values of the ranging differences are less than or equal to the ranging difference threshold, and taking the minimum value of the UWB ranging values as the target distance when the absolute value of one of the ranging differences is greater than the ranging difference threshold, which is equivalent to weakening or filtering the multipath effect of the UWB signal during transmission, thereby improving the accuracy of ranging.

In one embodiment, when the number of the second UWB antennas is more than three, step 340 may also be to eliminate two UWB ranging values corresponding to the ranging difference value greater than the ranging difference value threshold, so as to obtain the target distance by using the average value or weighted average value of the remaining UWB ranging values.

It will be appreciated that the multipath effect may be further mitigated by obtaining the target distance from the average or weighted average of the remaining UWB range values by two UWB range values corresponding to a range difference greater than a range difference threshold.

If the absolute value of one of the ranging difference values is larger than the ranging difference value threshold value, a switching instruction is transmitted to the ranging assembly to carry out ranging again, the switching instruction is used for indicating the ranging assembly to enter a multi-antenna mode, and when the ranging assembly is in the multi-antenna mode, ranging is carried out through the first UWB antennas and the second UWB antennas. In this embodiment, the switch command refers to a command instructing the ranging component to enter the multi-antenna mode. When the ranging component is in a multi-antenna mode, ranging is carried out through the first UWB antennas and the second UWB antennas. Because the ranging component measures the distance through a plurality of first UWB antennas and a plurality of second UWB antennas, the ranging device measures the distance between the ranging device and the ranging component through the radio frequency path between each second UWB antenna and the ranging component, namely measures the distance between the ranging device and the ranging component through the radio frequency path between each second UWB antenna and the plurality of first UWB antennas.

Specifically, the ranging device firstly ranges through each second UWB antenna and one of the first UWB antennas of the ranging assembly to obtain a plurality of UWB ranging values, determines a ranging difference value between every two UWB ranging values, and transmits a switching instruction to the ranging assembly to repeat ranging if an absolute value of one ranging difference value is greater than a ranging difference value threshold. In the process of ranging again, the distance measuring equipment measures the distance between the distance measuring equipment and the distance measuring component respectively through the radio frequency channel between each second UWB antenna and the first UWB antennas to obtain a plurality of UWB ranging values, and the target distance is determined by the plurality of UWB ranging values.

It can be understood that, in the process of re-ranging, the description of any one of the above embodiments may be referred to in the implementation of determining the target distance according to a plurality of UWB ranging values, and this embodiment is not described in detail.

In this embodiment, if the absolute value of one of the ranging differences is greater than the ranging difference threshold, a switching command is transmitted to the ranging module to perform ranging again, so that the distance between the ranging device and the ranging module is measured again through the radio frequency path between each second UWB antenna and the plurality of first UWB antennas to obtain a plurality of UWB ranging values. In addition, when the absolute value of one of the ranging difference values is larger than the ranging difference value threshold value, the ranging component is indicated to enter a multi-antenna mode, ranging is carried out through one of the second UWB antennas at ordinary times, and time consumption and accuracy of ranging are both considered.

It should be understood that although the various steps in the flowcharts of fig. 7-9 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 7-9 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.

Referring to fig. 10, fig. 10 is a schematic structural diagram of a distance measuring device according to an embodiment. The distance measuring device of the present embodiment is described by taking the distance measuring apparatus in fig. 1 as an example. The ranging apparatus of the present embodiment includes at least one second UWB antenna 1030, and the ranging device includes a transmitting module 1010, a receiving module 1020, and the second UWB antenna 1030, wherein: the transmitting module 1010 is configured to transmit a first ranging signal to a ranging component through at least one second UWB antenna 1030, so as to instruct the ranging component to receive the first ranging signal through a plurality of first UWB antennas respectively, determine a target multipath parameter of the first ranging signal received by each first UWB antenna, select a target UWB antenna from the plurality of first UWB antennas according to the target multipath parameter corresponding to each first UWB antenna, and feed back a second ranging signal to the second UWB antenna 1030 through the target UWB antenna, where the target multipath parameter represents strength of multipath effects transmitted by the UWB signal between the ranging device and the ranging component; the receiving module 1020 is configured to receive the second ranging signal, wherein the first ranging signal and the second ranging signal are used to determine a target distance between the ranging device and the ranging component.

In one embodiment, the ranging apparatus further comprises: the ranging module is used for obtaining a plurality of UWB ranging values according to the first ranging signals and the second ranging signals respectively corresponding to the second UWB antennas 1030; determining a target distance between the ranging device and the ranging component from a plurality of UWB ranging values.

The division of each module in the distance measuring device is only for illustration, and in other embodiments, the distance measuring device may be divided into different modules as needed to complete all or part of the functions of the distance measuring device.

For specific limitations of the ranging apparatus, reference may be made to the above limitations of the ranging method, which are not described herein again. The modules in the distance measuring device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

Fig. 11 is a schematic diagram of an internal structure of an electronic device in one embodiment. As shown in fig. 11, the electronic device includes a processor and a memory connected by a system bus. Wherein, the processor is used for providing calculation and control capability and supporting the operation of the whole electronic equipment. The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The computer program can be executed by a processor for implementing the methods provided in the following embodiments. The internal memory provides a cached execution environment for the operating system computer programs in the non-volatile storage medium. The electronic device may be any terminal device such as a mobile phone, a tablet computer, a PDA (Personal Digital Assistant), a Point of Sales (POS), a vehicle-mounted computer, and a wearable device.

In one embodiment, the present application further provides a ranging system comprising a ranging assembly and a ranging device. Wherein:

the ranging component comprises a plurality of first UWB antennas and UWB transceivers, wherein the first UWB antennas are used for receiving UWB signals and transmitting UWB signals, the UWB transceivers are respectively connected with the first UWB antennas and are used for respectively receiving first ranging signals through the first UWB antennas and feeding back second ranging signals through target UWB antennas in the first UWB antennas, the target UWB antennas are determined according to target multipath parameters of the first ranging signals received by each first UWB antenna, and the target multipath parameters represent the strength of multipath effects transmitted between the ranging device and the ranging component by the UWB signals; the ranging device comprises at least one second UWB antenna, the second UWB antenna is used for transmitting the first ranging signal to the ranging component and receiving the second ranging signal fed back by the ranging component, wherein the first ranging signal and the second ranging signal are used for determining the target distance between the ranging device and the ranging component.

It should be noted that, for the description of the distance measurement component and the distance measurement device, reference may also be made to the description of any of the above embodiments, which is not repeated in this embodiment.

The implementation of the respective modules in the apparatus provided in the embodiments of the present application may be in the form of a computer program. The computer program may be run on a terminal or a server. Program modules constituted by such computer programs may be stored on the memory of the electronic device. Which when executed by a processor, performs the steps of the method described in the embodiments of the present application.

The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform the steps of the method of any of the embodiments described above.

A computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of any of the above embodiments.

Any reference to memory, storage, database, or other medium used herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.